def GetSnapshotPosition(self, xPos, yPos):
xPath = self.StabilizationPaths["X"]
xPath.CurrentPosition = xPos
yPath = self.StabilizationPaths["Y"]
yPath.CurrentPosition = yPos
coords = dict(X=self.GetSnapshotCoordinate(xPath),
Y=self.GetSnapshotCoordinate(yPath))
if (not utility.IsInBounds(self.BoundingBox, x=coords["X"])):
message = "The snapshot X position ({0}) is out of bounds!".format(
coords["X"])
self.HasSnapshotPositionErrors = True
self.Settings.CurrentDebugProfile().LogError(
"gcode.py - GetSnapshotPosition - {0}".format(message))
if (self.Printer.abort_out_of_bounds):
coords["X"] = None
else:
coords["X"] = utility.GetClosestInBoundsPosition(
self.BoundingBox, x=coords["X"])["X"]
message += " Using nearest in-bound position ({0}).".format(
coords["X"])
self.SnapshotPositionErrors += message
if (not utility.IsInBounds(self.BoundingBox, y=coords["Y"])):
message = "The snapshot Y position ({0}) is out of bounds!".format(
coords["Y"])
self.HasSnapshotPositionErrors = True
self.Settings.CurrentDebugProfile().LogError(
"gcode.py - GetSnapshotPosition - {0}".format(message))
if (self.Printer.abort_out_of_bounds):
coords["Y"] = None
else:
coords["Y"] = utility.GetClosestInBoundsPosition(
self.BoundingBox, y=coords["Y"])["Y"]
message += " Using nearest in-bound position ({0}).".format(
coords["Y"])
if (len(self.SnapshotPositionErrors) > 0):
self.SnapshotPositionErrors += " "
self.SnapshotPositionErrors += message
return coords
def test_IsInBounds_CustomBox(self):
"""Test the IsInBounds function to make sure the program will not attempt to operate after being told to move out of bounds."""
# test custom box with values above zero
customBox = {
"volume": {
"custom_box": {
"x_min": 1,
"x_max": 200,
"y_min": 1,
"y_max": 200,
"z_min": 1,
"z_max": 200
}
}
}
# Initial test, should return false without any coordinates
self.assertTrue(not utility.IsInBounds(None, None, None, customBox))
# test the origin (min), should return false
self.assertTrue(not utility.IsInBounds(0, 0, 0, customBox))
# test 1,1,1 - True
self.assertTrue(utility.IsInBounds(1, 1, 1, customBox))
# move X out of bounds - Min
self.assertTrue(not utility.IsInBounds(.9999, 1, 1, customBox))
# move X out of bounds - Max
self.assertTrue(not utility.IsInBounds(200.0001, 1, 1, customBox))
# move X in bounds - Max
self.assertTrue(utility.IsInBounds(200.0000, 1, 1, customBox))
# move X in bounds - Middle
self.assertTrue(utility.IsInBounds(100.5000, 1, 1, customBox))
# move Y out of bounds - Min
self.assertTrue(not utility.IsInBounds(1,.9999, 1, customBox))
# move Y out of bounds - Max
self.assertTrue(not utility.IsInBounds(1,200.0001, 1, customBox))
# move Y in bounds - Max
self.assertTrue(utility.IsInBounds(1,200.0000, 1, customBox))
# move Y in bounds - Middle
self.assertTrue(utility.IsInBounds(1,100.5000, 1, customBox))
# move Z out of bounds - Min
self.assertTrue(not utility.IsInBounds(1, 1, .9999, customBox))
# move Z out of bounds - Max
self.assertTrue(not utility.IsInBounds(1, 1, 200.0001, customBox))
# move Z in bounds - Max
self.assertTrue(utility.IsInBounds(1, 1, 200.0000, customBox))
# move Z in bounds - Middle
self.assertTrue(utility.IsInBounds(1, 1, 100.5000, customBox))
# test custom box with negative min values
customBox = {
"volume": {
"custom_box": {
"x_min": -1,
"x_max": 250,
"y_min": -2,
"y_max": 200,
"z_min": -3,
"z_max": 200
}
}
}
# move X out of bounds - Min
self.assertTrue(not utility.IsInBounds(-1.0001, 1, 1, customBox))
# move X out of bounds - Max
self.assertTrue(not utility.IsInBounds(250.0001, 1, 1, customBox))
# move X in bounds - Max
self.assertTrue(utility.IsInBounds(250.0000, 1, 1, customBox))
# move X in bounds - Middle
self.assertTrue(utility.IsInBounds(123.5000, 1, 1, customBox))
# move Y out of bounds - Min
self.assertTrue(not utility.IsInBounds(1,-2.0001, 1, customBox))
# move Y out of bounds - Max
self.assertTrue(not utility.IsInBounds(1,200.0001, 1, customBox))
# move Y in bounds - Max
self.assertTrue(utility.IsInBounds(1,200.0000, 1, customBox))
# move Y in bounds - Middle
self.assertTrue(utility.IsInBounds(1,99.0000, 1, customBox))
# move Z out of bounds - Min
self.assertTrue(not utility.IsInBounds(1, 1, -3.0001, customBox))
# move Z out of bounds - Max
self.assertTrue(not utility.IsInBounds(1, 1, 200.0001, customBox))
# move Z in bounds - Max
self.assertTrue(utility.IsInBounds(1, 1, 200.0000, customBox))
# move Z in bounds - Middle
self.assertTrue(utility.IsInBounds(1, 1, 98.5000, customBox))
# test custom box with all negative min values
customBox = {
"volume": {
"custom_box": {
"x_min": -100,
"x_max": -50,
"y_min": -100,
"y_max": -50,
"z_min": -100,
"z_max": -50
}
}
}
# test X axis
# move out of bounds - Min
self.assertTrue(not utility.IsInBounds(-100.0001, -100, -100, customBox))
# move out of bounds - Max
self.assertTrue(not utility.IsInBounds(-49.9999, -100, -100, customBox))
# move in bounds - Max
self.assertTrue(utility.IsInBounds(-50.0000, -100, -100, customBox))
# move in bounds - Middle
self.assertTrue(utility.IsInBounds(-75.0000, -100, -100, customBox))
# test Y axis
# move out of bounds - Min
self.assertTrue(not utility.IsInBounds(-100,-100.0001, -100, customBox))
# move out of bounds - Max
self.assertTrue(not utility.IsInBounds(-100,-49.9999, -100, customBox))
# move in bounds - Max
self.assertTrue(utility.IsInBounds(-100,-50.0000, -100, customBox))
# move in bounds - Middle
self.assertTrue(utility.IsInBounds(-100,-75.0000, -100, customBox))
# test Z axis
# move out of bounds - Min
self.assertTrue(not utility.IsInBounds(-100, -100, -100.0001, customBox))
# move out of bounds - Max
self.assertTrue(not utility.IsInBounds(-100, -100,-49.9999, customBox))
# move in bounds - Max
self.assertTrue(utility.IsInBounds(-100, -100,-50.0000, customBox))
# move in bounds - Middle
self.assertTrue(utility.IsInBounds(-100, -100,-75.0000, customBox))
def test_IsInBounds(self): """Test the IsInBounds function to make sure the program will not attempt to operate after being told to move out of bounds.""" # Initial test, should return false without any coordinates self.assertTrue(not utility.IsInBounds(None, None, None, self.OctoprintPrinterProfile)) # test the origin (min), should return true self.assertTrue(utility.IsInBounds(0, 0, 0, self.OctoprintPrinterProfile)) # move X out of bounds of the min self.assertTrue(not utility.IsInBounds(-0.0001, 0, 0, self.OctoprintPrinterProfile)) # move X out of bounds of the max self.assertTrue(not utility.IsInBounds(250.0001, 0, 0, self.OctoprintPrinterProfile)) # move X to the max of bounds of the max self.assertTrue(utility.IsInBounds(250.0000, 0, 0, self.OctoprintPrinterProfile)) # move Y out of bounds of the min self.assertTrue(not utility.IsInBounds(0, -0.0001, 0, self.OctoprintPrinterProfile)) # move Y out of bounds of the max self.assertTrue(not utility.IsInBounds(0, 200.0001, 0, self.OctoprintPrinterProfile)) # move Y to the max of bounds of the max self.assertTrue(utility.IsInBounds(0, 200.0000, 0, self.OctoprintPrinterProfile)) # move Z out of bounds of the min self.assertTrue(not utility.IsInBounds(0, 0, -0.0001, self.OctoprintPrinterProfile)) # move Z out of bounds of the max self.assertTrue(not utility.IsInBounds(0, 0, 200.0001, self.OctoprintPrinterProfile)) # move Z to the max of bounds of the max self.assertTrue(utility.IsInBounds(0, 0, 200.0000, self.OctoprintPrinterProfile))
def UpdatePosition(self,
boundingBox,
x=None,
y=None,
z=None,
e=None,
f=None,
force=False):
if (f is not None):
self.F = float(f)
if (force):
# Force the coordinates in as long as they are provided.
#
if (x is not None):
x = float(x)
x = x + self.XOffset
self.X = x
if (y is not None):
y = float(y)
y = y + self.YOffset
self.Y = y
if (z is not None):
z = float(z)
z = z + self.ZOffset
self.Z = z
if (e is not None):
e = float(e)
e = e + self.EOffset
self.E = e
else:
# Update the previous positions if values were supplied
if (x is not None and self.XHomed):
x = float(x)
if (self.IsRelative):
if (self.X is not None):
self.X += x
else:
self.X = x + self.XOffset
if (y is not None and self.YHomed):
y = float(y)
if (self.IsRelative):
if (self.Y is not None):
self.Y += y
else:
self.Y = y + self.YOffset
if (z is not None and self.ZHomed):
z = float(z)
if (self.IsRelative):
if (self.Z is not None):
self.Z += z
else:
self.Z = z + self.ZOffset
if (e is not None):
e = float(e)
if (self.IsExtruderRelative):
if (self.E is not None):
self.EPrevious = self.E
self.E += e
else:
self.EPrevious = self.E
self.E = e + self.EOffset
if (not utility.IsInBounds(
boundingBox, x=self.X, y=self.Y, z=self.Z)):
self.HasPositionError = True
self.PositionError = "Position - Coordinates {0} are out of the printer area! Cannot resume position tracking until the axis is homed, or until absolute coordinates are received.".format(
GetFormattedCoordinates(self.X, self.Y, self.Z, self.E))
else:
self.HasPositionError = False
self.PositionError = None
def CreateSnapshotGcode(self,
x,
y,
z,
f,
isRelative,
isExtruderRelative,
extruder,
zLift,
savedCommand=None):
self.Reset()
if (x is None or y is None or z is None):
self.HasSnapshotPositionErrors = True
message = "Cannot create GCode when x,y,or z is None. Values: x:{0} y:{1} z:{2}".format(
x, y, z)
self.SnapshotPositionErrors = message
self.Settings.CurrentDebugProfile().LogError(
"gcode.py - CreateSnapshotGcode - {0}".format(message))
return None
self.FOriginal = f
self.FCurrent = f
self.RetractedBySnapshotStartGcode = False
self.RetractedLength = 0
self.ZhopBySnapshotStartGcode = False
self.ZLift = zLift
self.IsRelativeOriginal = isRelative
self.IsRelativeCurrent = isRelative
self.IsExtruderRelativeOriginal = isExtruderRelative
self.IsExtruderRelativeCurrent = isExtruderRelative
newSnapshotGcode = SnapshotGcode(self.IsTestMode)
# retract if necessary
# Note that if IsRetractedStart is true, that means the printer is now retracted. IsRetracted will be false because we've undone the previous position update.
if (self.Snapshot.retract_before_move and
not (extruder.IsRetracted() or extruder.IsRetractingStart())):
if (not self.IsExtruderRelativeCurrent):
newSnapshotGcode.Append(
self.GetSetExtruderRelativePositionGcode())
self.IsExtruderRelativeCurrent = True
self.AppendFeedrateGcode(newSnapshotGcode,
self.Printer.retract_speed)
retractedLength = extruder.LengthToRetract()
if (retractedLength > 0):
newSnapshotGcode.Append(self.GetRetractGcode(retractedLength))
self.RetractedLength = retractedLength
self.RetractedBySnapshotStartGcode = True
# Can we hop or is the print too tall?
# todo: detect zhop and only zhop if we are not currently hopping.
canZHop = self.Printer.z_hop > 0 and utility.IsInBounds(
self.BoundingBox, z=z + self.Printer.z_hop)
# if we can ZHop, do
if (canZHop and self.ZLift > 0):
if (not self.IsRelativeCurrent): # must be in relative mode
newSnapshotGcode.Append(self.GetSetRelativePositionGcode())
self.IsRelativeCurrent = True
self.AppendFeedrateGcode(newSnapshotGcode,
self.Printer.z_hop_speed)
newSnapshotGcode.Append(self.GetRelativeZLiftGcode(self.ZLift))
self.ZhopBySnapshotStartGcode = True
# Wait for current moves to finish before requesting the startgcodeposition
#newSnapshotGcode.Append(self.GetWaitForCurrentMovesToFinishGcode())
# Get the final position after the saved command. When we get this position we'll know it's time to resume the print.
#newSnapshotGcode.Append(self.GetPositionGcode())
# Log the commands
#self.Settings.CurrentDebugProfile().LogSnapshotGcode("Snapshot Start Gcode")
#for str in newSnapshotGcode.GcodeCommands:
# self.Settings.CurrentDebugProfile().LogSnapshotGcode(" {0}".format(str))
### End start gcode
# Create code to move from the current extruder position to the snapshot position
# get the X and Y coordinates of the snapshot
snapshotPosition = self.GetSnapshotPosition(x, y)
newSnapshotGcode.X = snapshotPosition["X"]
newSnapshotGcode.Y = snapshotPosition["Y"]
if (newSnapshotGcode.X is None or newSnapshotGcode.Y is None):
# either x or y is out of bounds.
return None
#Move back to the snapshot position - make sure we're in absolute mode for this
if (self.IsRelativeCurrent): # must be in absolute mode
newSnapshotGcode.Append(self.GetSetAbsolutePositionGcode())
self.IsRelativeCurrent = False
## speed change - Set to movement speed IF we have specified one
self.AppendFeedrateGcode(newSnapshotGcode, self.Printer.movement_speed)
# Move to Snapshot Position
newSnapshotGcode.Append(
self.GetMoveGcode(newSnapshotGcode.X, newSnapshotGcode.Y))
# Wait for current moves to finish before requesting the position
newSnapshotGcode.Append(self.GetWaitForCurrentMovesToFinishGcode())
# Get the final position after moving. When we get a response from the, we'll know that the snapshot is ready to be taken
newSnapshotGcode.Append(self.GetPositionGcode())
# mark the snapshot command index
newSnapshotGcode.SetSnapshotIndex()
# create return gcode
#record our previous position for posterity
newSnapshotGcode.ReturnX = x
newSnapshotGcode.ReturnY = y
newSnapshotGcode.ReturnZ = z
#Move back to previous position - make sure we're in absolute mode for this (hint: we already are right now)
#if(self.IsRelativeCurrent):
# newSnapshotGcode.Append(self.GetSetAbsolutePositionGcode())
# self.IsRelativeCurrent = False
if (x is not None and y is not None):
newSnapshotGcode.Append(self.GetMoveGcode(x, y))
# If we zhopped in the beginning, lower z
if (self.ZhopBySnapshotStartGcode):
if (not self.IsRelativeCurrent):
newSnapshotGcode.Append(self.GetSetRelativePositionGcode())
self.IsRelativeCurrent = True
self.AppendFeedrateGcode(newSnapshotGcode,
self.Printer.z_hop_speed)
newSnapshotGcode.Append(self.GetRelativeZLowerGcode(self.ZLift))
# detract
if (self.RetractedBySnapshotStartGcode):
if (not self.IsExtruderRelativeCurrent):
newSnapshotGcode.Append.GetSetExtruderRelativePositionGcode()
self.IsExtruderRelativeCurrent = True
self.AppendFeedrateGcode(newSnapshotGcode,
self.Printer.detract_speed)
if (self.RetractedLength > 0):
newSnapshotGcode.Append(
self.GetDetractGcode(self.RetractedLength))
# reset the coordinate systems for the extruder and axis
if (self.IsRelativeOriginal != self.IsRelativeCurrent):
if (self.IsRelativeCurrent):
newSnapshotGcode.Append(self.GetSetAbsolutePositionGcode())
else:
newSnapshotGcode.Append(self.GetSetRelativePositionGcode())
self.IsRelativeCurrent = self.IsRelativeOriginal
if (self.IsExtruderRelativeOriginal != self.IsExtruderRelativeCurrent):
if (self.IsExtruderRelativeOriginal):
newSnapshotGcode.Append(
self.GetSetExtruderRelativePositionGcode())
else:
newSnapshotGcode.Append(
self.GetSetExtruderAbslutePositionGcode())
# Make sure we return to the original feedrate
self.AppendFeedrateGcode(newSnapshotGcode, self.FOriginal)
# What the hell was this for?!
#newSnapshotGcode.GcodeCommands[-1] = "{0}".format(newSnapshotGcode.GcodeCommands[-1])
# add the saved command, if there is one
if (savedCommand is not None):
newSnapshotGcode.Append(savedCommand)
# Wait for current moves to finish before requesting the save command position
newSnapshotGcode.Append(self.GetWaitForCurrentMovesToFinishGcode())
# Get the final position after the saved command. When we get this position we'll know it's time to resume the print.
newSnapshotGcode.Append(self.GetPositionGcode())
self.Settings.CurrentDebugProfile().LogSnapshotGcode(
"Snapshot Gcode - SnapshotCommandIndex:{0}, EndIndex{1}, Gcode:".
format(newSnapshotGcode.SnapshotIndex,
newSnapshotGcode.EndIndex()))
for str in newSnapshotGcode.GcodeCommands:
self.Settings.CurrentDebugProfile().LogSnapshotGcode(
" {0}".format(str))
self.Settings.CurrentDebugProfile().LogSnapshotPosition(
"Snapshot Position: (x:{0:f},y:{1:f})".format(
newSnapshotGcode.X, newSnapshotGcode.Y))
self.Settings.CurrentDebugProfile().LogSnapshotPositionReturn(
"Return Position: (x:{0:f},y:{1:f})".format(
newSnapshotGcode.ReturnX, newSnapshotGcode.ReturnY))
return newSnapshotGcode